Literature Review on Proportional Control


So what is the difference 😀?

DoAs represent the number of independent actuator/motor, while DoF represent the number of movements we can execute on the prosthetic hand with these motors. For example, if a prosthetic hand has 5 intrinsic motors to control flexing and extension of the five fingers then we have 10 DOFs and 5 DOAs.

Common concepts and ideas

Regression-based control

Models used

I kept coming back to these models when reading about regression-based control:

Wiener Filter

Without going into a lot of mathematical details (because I would have to revise some mathematical foundations to be able to grasp everything), what I know for now is that:

Linear Regression

$R^2$ formula

Interesting papers I read

Krasoulis, Agamemnon, Sethu Vijayakumar, and Kianoush Nazarpour. “Effect of User Practice on Prosthetic Finger Control With an Intuitive Myoelectric Decoder.” Frontiers in Neuroscience 13 (2019). I might do a more extensive summary of the paper later.

Aim of this paper

To study the effect of user adaptation in continuous finger position control. The idea is that it was previously shown on classification tasks that user adaptation plays a huge role in improving the control accuracy. Here they extend this to continuous control where they hypothesize that:

  1. During closed-loop interaction with the prosthesis can improve the intuitive decoder, one this is mapping EMG features to prosthetic digit positions
  2. there is a need to evaluate the trained models in online setting and that offline decoding do not reliably predict real-time control outcomes

Decoder model